Methods for launching and landing an unmanned aerial vehicle

ABSTRACT

Methods and apparatus are provided for launching and landing unmanned aerial vehicles (UAVs) including multi-rotor aircrafts. The methods and apparatus disclosed herein utilize positional change of the UAV, visual signal, or other means to effect the launch or landing. The methods and apparatus disclosed herein are user friendly, particularly to amateur UAV users lacking practice of operating a UAV.

BACKGROUND OF THE INVENTION

For many years, both amateur and professional operators need to spendmany hours of practice and training to master the control of unmannedaerial vehicles (UAVs) including multi-rotor aircraft. In particular,landing and takeoff remain the two most challenging aspects of operatinga UAV. Such challenge is exacerbated when encountering uneven surfaces,strong wind, and other environmental factors affecting the operation ofthe UAV. Therefore, there exists a need for simplified or improvedmethods, as well as new designs of UAV that would render landing andtakeoff easier even for amateur UAV users with little training orpractice.

SUMMARY OF THE INVENTION

The present invention addresses this need and provides relatedadvantages as well.

In one aspect, the present invention provides an alternative method oflaunching an unmanned aerial vehicle (UAV). In one embodiment, themethod comprises (a) detecting a positional change of the UAV; and (b)in response to the detected positional change, activating the UAV togenerate a lift and/or thrust.

In another embodiment, the present invention provides a method oflaunching an unmanned rotorcraft comprising a visual sensor and one ormore rotor blades, said method comprising the steps of (a) detecting, bythe rotorcraft, a visual signal generated by an operator of saidrotorcraft; and (b) in response to the detected visual signal,activating the one or more rotor blades to generate a lift and/orthrust.

In yet another embodiment, the present invention provides a method forlaunching an unmanned rotorcraft comprising one or more rotor blades, atleast one sensor being configured to detect release of a grip of saidrotorcraft by a hand, the method comprising the steps of: (a) detectingby the sensor, the release of the grip by said hand; and (b) in responseto the detected release of the grip, generating an activating signal toactuate the one or more rotor blades of the rotorcraft to generate alift and/or thrust.

In practicing any of the disclosed methods, the detected positionalchange includes one member selected from the group consisting of achange in velocity, a change of acceleration, a change in orientation ofthe UAV, and a change in location with respect to a reference object. Insome embodiments, the positional change is caused by detachment from asupport supporting the UAV. Where desired, the support can be part of amechanical body or a body of a living organism, including withoutlimitation a human body (e.g., a human hand). In some embodiments, thepositional change is detected by a visual sensor, an inertial sensor, aGPS receiver, a magnetometer, compass, or an altimeter. Where desired,the sensor can be on-board the UAV or off-board. In some embodiments,the sensor is a visual sensor including but not limited to a camera,located on-board or off-board. When choosing an off-board sensor, thesensor may be configured to communicate with a controller of the UAV toeffect the activation of the UAV resulting in the lift and/or thrust.

In some embodiments, the detection of a visual signal can involvedetecting a gesture or movement of a human body.

In some embodiments, detecting the release of the grip of the UAV by ahand (e.g., a mechanical or a human hand) results in one or more of:setting in motion in an arched trajectory, tossing into the air,catapulting into the air, and retracting or allowing said rotorcraft tofall towards the earth. The release can be effected by releasing anypart of the UAV. Depending on the external structural component of theUAV, the release can involve the release of a hook, a rod, a rope, abump, a hole, a landing leg, a structural extension, or a loop on theUAV. The detection of the release can be performed by one or more of thefollowing sensors including without limitation, a touch sensor, apressure sensor, a temperature sensor, a photosensor, and a magnet.

In practicing any of the subject methods for launching a UAV, thedetected positional change, visual signal, and/or release of the grip tothe UAV may trigger the activating the UAV resulting in a lift and/orthrust. In some embodiments, the lift and/or thrust is generated in lessthan about 60 seconds, 30 seconds, 10 seconds, 8 seconds, 6 seconds, 5seconds, 4 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1second, or even 0.01 second upon detecting the said detecting thepositional change, visual signal, and/or release of the grip to the UAV.The activation of the UAV may involve activating one or more rotorblades of a UAV. In some embodiments, the activation of the UAV isperformed when the UAV reaches a vertical velocity of zero. In someembodiments, upon generating the lift and/or thrust, the UAV hovers overa designated location.

In a separate but related aspect, the present invention providesalternative design of UAV.

In one embodiment, the present invention provides an unmanned rotorcraftcomprising one or more rotor blades; a sensor configured to detect apositional change of the UAV; a controller configured to provide anactuating signal for activating the UAV in response to the detectedpositional change; and an actuator configured to cause the one or morerotor blades of the UAV to move and generate a lift and/or thrust inresponse to the actuating signal.

In another embodiment, the present invention provides an unmannedrotorcraft, comprising: a visual sensor configured to detect a visualsignal generated by an operator of said rotorcraft; a controllerconfigured to provide an actuating signal for activating the UAV inresponse to the detected visual signal; and an actuator configured tocause the UAV rotor blades to move and generate a lift and/or thrust inresponse to the actuating signal.

In yet another embodiment, the present invention provides an unmannedrotorcraft comprising one or more rotor blades, comprising: a sensorconfigured to detect release of a grip by a hand onto said an unmannedrotorcraft; a controller configured to provide an actuating signal foractivating the UAV in response to the detected release; and an actuatorconfigured to cause the UAV rotor blades to move and generate a liftand/or thrust in response to the actuating signal.

The UAV of any of the foregoing embodiments can be a rotorcraftincluding but not limited to the type with multiple rotor blades(multi-rotor aircraft).

The sensor of the foregoing UAV can be configured to detect a positionalchange of the UAV, a visual signal, and/or a release of the grip of theUAV by a hand. In some embodiments, a sensor for sensing the positionalchange is a visual sensor, an inertial sensor (including but not limitedto a gyroscope and an accelerometer), a GPS receiver, a magnetometer,compass, or an altimeter. One or more of these types of sensors can beutilized, alone or collectively, to sense any one or combination of thefollowing: a change in velocity, a change of acceleration, a change inorientation of the UAV, and a change in location with respect to areference object. In some embodiments, the sensor is configured to sensea positional change caused by detachment from a support supporting theUAV. Where desired, the support can be part of a mechanical body or abody of a living organism, including without limitation a human body(e.g., a human hand). In some embodiments, the sensor is configured todetect a visual signal including but not limited to a gesture ormovement of a human body. In some embodiments, the sensor can beon-board the UAV or off-board. In some embodiments, the sensor is avisual sensor including but not limited to a camera, located on-board oroff-board. When choosing an off-board sensor, the sensor may beconfigured to communicate with a controller of the UAV to effect theactivation of the UAV resulting in the lift and/or thrust.

In some embodiments, the sensor for detecting the release of the grip ofthe UAV by a hand (mechanical or human hand) is a touch sensor, apressure sensor, a temperature sensor, or any combination thereof.

In some embodiments, the controller of the UAV is in communication withthe sensor on- or off-board to provide an actuating signal foractivating the UAV in response to the detected positional change and/orvisual signal.

In some embodiments, the actuator includes without limitation a DCbrushless motor, DC brush motor, and switched reluctance motor. In someembodiments, the actuator is configured to cause the one or more rotorblades to move and generate a lift and/or thrust in less than about 60seconds, 30 seconds, 10 seconds, 8 seconds, 6 seconds, 5 seconds, 4seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, or even0.01 second, in response to the actuating signal, which is in turngenerated when the positional change, visual signal, and/or release ofthe grip to the UAV is detected.

In another aspect, the present invention provides methods ofdecelerating a UAV. In some aspects, the present invention providesalternative methods of landing a UAV.

In one embodiment, a method of decelerating an unmanned aerial vehicle(UAV) comprises the steps of detecting by a sensor on the UAV, anexternal contact exerted upon said UAV while said UAV is airborne; andgenerating by said UAV a decelerating signal in response to the detectedexternal contact, thereby decelerating said UAV. In some embodiments,the UAV comprises a holding member attached thereto. Such holding membercan be a handle, rod, rope, a landing leg, a structural extension, ahook, a loop, or any structural component amendable to be held by amechanical or human hand. In practicing the method, the external contactcan be detected by a sensor selected from the group consisting of atouch sensor, pressure sensor, temperature sensor, photosensor, amagnet, or a combination thereof. For example, the sensor can beconfigured to detect the external contact exerted by way of capturingsaid holding member by a hand. Where desired, the method may furthercomprise determining that the UAV has been captured by a human hand forperiod of time that exceeds a predetermined threshold value and causingthe UAV to come to a stop based on said determination.

In some embodiments, practicing this method utilizes a UAV that is arotorcraft including one or more rotor blades, and said deceleratingcauses the one or more rotor blades to slow down, stall, or come to acomplete stop. In some embodiments, the decelerating signal effectslanding of said UAV at a designated location. The decelerating caninclude without limitation one or more of the following: causing adecrease in altitude of the UAV, causing a change in attitude of theUAV, causing a reduction in velocity of the UAV, and causing a negativechange in acceleration of the UAV. In some instances, the deceleratingsignal is generated by a controller located in said UAV. In someinstances, the decelerating signal is generated in less than about 60seconds, 30 seconds, 10 seconds, 8 seconds, 6 seconds, 5 seconds, 4seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, or even0.01 second, 1 second from detecting said external contact.

The subject method of decelerating a UAV can be coupled with the step ofdetecting a positional change and generating a decelerating signal tothe UAV in response to both the detected external contact and thepositional change. Where desired, the positional change is selected fromthe group consisting of a change in velocity, a change of acceleration,a change in orientation of the UAV, and a change in location withrespect to a reference object. Alternatively, the subject method ofdecelerating a UAV can further comprise the step of detecting a visualsignal from a visual sensor (e.g., photosensor) and wherein saiddecelerating signal is generated based on both the detected capture andthe detected visual signal.

In another embodiment, the present invention provides a method forlanding an unmanned aerial vehicle (UAV), comprising: (a) detecting apositional change of the UAV while said UAV is airborne by the UAV; and(b) in response to the detected positional change, generating adeceleration signal to said UAV to bring said UAV to a stop.

In yet another embodiment, the present invention provides a method forlanding an unmanned aerial vehicle (UAV), comprising: (a) detecting avisual signal of an operator of the UAV; and (b) in response to thedetected visual signal, generating a deceleration signal to said UAV tobring said UAV to a stop.

In practicing the aforementioned method(s), the positional change isselected from the group consisting of a change in velocity, a change ofacceleration, a change in orientation of the UAV, and a change inlocation of said UAV with respect to a reference object. The positionalchange can be caused by capturing the UAV in whole or in part by amechanical or a human hand. The positional change can be detected by avisual sensor, an inertial sensor, a GPS receiver, a magnetometer,compass, or an altimeter.

The visual signal being detected includes but is not limited to agesture or movement of a human body. Where desired, the visual signalcan detected by a visual sensor (including but not limited to a camera)located on- or off-board the UAV. In some embodiments, the visual sensoris configured to be in communication with a controller of said UAV, saidcontroller generating the deceleration signal to bring said UAV to astop.

In some embodiments, the UAV is brought to a stop in less than about 60seconds, 30 seconds, 10 seconds, 8 seconds, 6 seconds, 5 seconds, 4seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, or even0.01 second, from detecting said positional change or said visualsignal.

In still yet another aspect, the present invention provides a UAVcapable of performing one or more of the functions disclosed here. Inone embodiment, the present invention provides a UAV, comprising asensor configured to detect a positional change experienced by the UAVor a visual signal generated by an operator of the UAV; a controllerconfigured to provide a deactivating signal for decelerating the UAV inresponse to the detected positional change and/or the visual signal; andan actuator configured to cause said UAV to decelerate in response tothe deactivating signal. For detecting the positional change, the sensorcan be a visual sensor, an inertial sensor, a GPS receiver, amagnetometer, compass, an altimeter, or a combination thereof. Fordetecting the visual signal (including but not limited to human gesture)can be any visual sensor. For example, any sensor capable of sensinglight wavelengths within the visual range or infrared or ultra-violetrange can be utilized. Where desired, the visual sensor is configured tobe in communication with said controller to effect providing saiddeactivating signal for decelerating the UAV in response to the detectedvisual signal.

In some instances, the UAV is a rotorcraft including one or more rotorblades, and wherein said decelerating signal causes the one or morerotor blades to slow down, stall, or come to a complete stop.

Any structural components alone or in combination referenced in thesubject methods can be utilized alone or in combination in the subjectUAV disclosed herein.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 illustrates an exemplary unmanned aerial vehicle (UAV) that maybe used to implement the present invention, in accordance with anembodiment of the present invention.

FIG. 2 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 3 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 4 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 5 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 6 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 7 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 8 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 9 illustrates another exemplary UAV that may be used to implementthe present invention, in accordance with an embodiment of the presentinvention.

FIG. 10 illustrates a method for launching a UAV, in accordance with anembodiment of the present invention.

FIGS. 11A-B illustrate methods for landing a UAV, in accordance withsome embodiments of the present invention.

FIG. 12 illustrates a method for landing a UAV, in accordance with anembodiment of the present invention.

FIGS. 13-15 illustrate methods for launching or landing a UAV, inaccordance with some embodiment of the present invention.

FIG. 16 illustrates an exemplary setup utilizing a UAV for implementingthe present invention, in accordance with an embodiment.

FIG. 17 illustrates an exemplary setup utilizing a UAV for implementingthe present invention, in accordance with an embodiment.

FIG. 18 illustrates exemplary components of a system used to implementthe present invention, in accordance with an embodiment.

DETAILED DESCRIPTION OF THE INVENTION

The present invention provides methods and apparatus for launching anddecelerating (encompassing also landing) unmanned aerial vehicle (UAV).According to an aspect of the present invention, simplified methods oflaunching the UAVs are provided. The subject methods are generally userfriendly, designed for automatic launch by even armatures with littletraining on UAV operation, and thus improving user experience andaccessibility. The subject methods can permit taking off and/or landingon uneven surface or rough terrain, thus also accommodating a wide rangeof environmental conditions conventionally unsuited for UAV operation.

Accordingly, in one embodiment, a method for launching an unmannedaerial vehicle (UAV), comprises the step of (a) detecting a positionalchange of the UAV; and (b) in response to the detected positionalchange, activating the UAV to generate a lift and/or thrust.

A positional change may include translational changes (e.g., inaltitude, latitude and/or longitude) or rotational changes. A positionalchange may also include changes in the velocity, acceleration, and/ororientation of the UAV. A positional change may further include a changein location of the UAV with respect to a frame of reference or areference object.

In some embodiments, the positional change or positional state may bedetected by onboard and/or off-board sensors such as discussed herein.For example, the positional change may be detected by an inertialsensor, GPS receiver, compass, magnetometer, altimeter, proximity sensor(e.g., infrared sensor, LIDAR sensor), visual or image sensor (such as acamera or video camera), photo sensor, motion detector, and the like.For example, an onboard inertial sensor (including one or moregyroscopes and/or accelerometers) may be used to detect a change inacceleration and/or orientation experienced by the UAV. For example, theinertial sensor may be used to detect that the acceleration of the UAVis close to the gravity of the earth indicating that the UAV isexperiencing the freefall motion. Similarly, the inertial sensor and/orvisual sensor may be used to determine that the vertical velocity of theUAV is close to zero, indicating for example that the UAV is near thevertically highest point of the a parabola-like trajectory. Similarly,an onboard GPS receiver and/or visual sensor may be used to detect achange in the location of the UAV.

In some embodiments, detecting the positional change or positional statemay include analyzing sensor data obtained from the sensors. Suchanalysis may be performed by a controller of the UAV, a computer orprocessor at a remote device or station. In some cases, obtained sensordata may be compared against a threshold and/or predetermined value. Insuch cases the UAV may utilize a variety of different sensors withbuilt-in threshold limits. The threshold values may include absolute orrelative values, depending on the specific positional change to bedetermined. For example, the threshold value may include the absolute orrelative velocity, acceleration, orientation, location coordinates(e.g., altitude, latitude, and/or longitude), and the like. For example,a detected linear acceleration may be compared with the absolute valueof g (gravity). As another example, the detected velocity may becompared with the absolute value of zero to determine if the velocityhas reached zero, close to zero or has become negative (such as when theUAV has reached or passed the apex of a launching trajectory).

In some cases, instead of or in addition to comparing sensor data tothreshold and/or predetermined values, the obtained sensor data may becompared with previously obtained sensor data. For example, frames ofimage data obtained from visual sensors may be compared and analyzed todetermine changes in velocity and/or location of the UAV since last timethe sensor data is obtained and/or the currently velocity and/orlocation of the UAV.

Based on the analysis of the sensor data, it may be determined whetherthe UAV should be activated, started or launched. Such determination maybe performed by an onboard controller, a remote computer or processor,or a combination thereof. In response to the determination, anacceleration or activation signal may be generated, for example, by theonboard controller or a remote computer, to actuate one or more rotorsof the UAV, thereby causing one or more rotor blades to rotate andgenerate a suitable lift for the UAV. The generated lift may besufficient to allow the UAV to maintain an airborne state. In someembodiments, the generated lift allows the UAV to hover over adesignated location. In some other embodiments, the generated liftallows the UAV to gain elevation. In yet some other embodiments, thegenerated lift may also allow the UAV to change its lateral positionand/or orientation.

In some embodiments, the positional change or positional state may becaused directly by a human. FIG. 8 illustrates a method for launching aUAV, in accordance with an embodiment of the present invention. Asillustrated, a person 801 throws or tosses a UAV 802 with non-rotatingrotor blades into the air in an arc-like trajectory 803. At or near thepeak of the trajectory 803, the vertical velocity of the UAV becomeszero or close to zero. Such zero or near-zero vertical velocity can bedetected by an onboard or off-board sensor. In an embodiment, the zeroor near-zero vertical velocity may be detected by an inertial sensorand/or visual sensor of the UAV 802. The sensor may provide the detecteddata to an onboard controller of the UAV or a remote controller, forexample, via a wired or wireless link. The controller may determine, inresponse to the detected positional change or state, the suitableactuation signals to provide to one or more rotors of the UAV. Theactuation signals may be generated by an onboard controller, a remotedevice or a combination thereof. The actuation signals may causeactuation of the one or more rotors, thereby causing rotation ofrespective rotor blades 801 to generate the desired lift 807 sufficientto cause the UAV to become autonomously airborne. For example, UAV mayhover over the peak of the trajectory.

In an embodiment, instead of or in addition to the positional change ofthe UAV discussed above, the release of the UAV by a human hand may bedetected.

Accordingly, in another embodiment, the present invention provides amethod for launching an unmanned rotorcraft having (1) one or more rotorblades and (2) at least one sensor being configured to detect release ofa grip of said rotorcraft by a hand. The method typically involves thesteps of (a) detecting by a sensor on a UAV, the release of the grip bysaid hand; and (b) in response to the detected release of the grip,generating an activating signal to actuate the one or more rotor bladesof the UAV to generate a lift and/or thrust.

By way of illustration, a UAV may be released by the person 801 of FIG.8 via one or more holding members 810 such as discussed herein. Theholding members may be provided with one or more sensors such as touchsensor, pressure sensor, temperature sensor and the like to detect thecontact or the lack thereof with the holding members. In an embodiment,the release of the UAV from a mechanical or human hand may be detectedby such sensors and in response to the detected release. In response tothe detected release of the grip by a mechanical or human hand, anonboard or remote controller of the UAV then generate the actuationsignals that cause the activation of the UAV as described herein.

In some embodiments, the actuation signals may be generated within lessthan about 1 second from the detecting step. In other embodiments,activating signal is generated within a range from as little as about0.8 seconds, 0.5 seconds, 0.3 seconds, 0.1 seconds, 0.05 seconds, toabout 0.001 second or less from the detecting step. In some instances,activating the one or more rotor blades to generate a lift and/or thrustis performed within less than about 1 second from the detecting step. Inother embodiments, activating signal is generated within a range from aslittle as about 0.8 seconds, 0.5 seconds, 0.3 seconds, 0.1 seconds, 0.05seconds, to about 0.001 second or less from the detecting step.

In some embodiments, the positional change or positional state may becaused by a mechanical device. FIG. 9A illustrates an example mechanicaldevice for launching an UAV, in accordance with an embodiment of thepresent invention. The mechanical device includes a mechanical arm 900that comprises a mechanical hand 906 at one end and an actuator 911 atthe other end. The mechanical hand 906 may be configured to hold and/orrelease a UAV 902. The actuator 911 may include a mechanical motor,electrical motor, spring assembly or any other suitable actuator. Theactuator 911 may be controlled locally or remotely by a controller orcomputer. In an embodiment, the actuator 911 may cause the mechanicalarm and/or hand to launch the UAV 902 into the air in a similar fashionas the launch by the human hand as discussed above in connection withFIG. 8. In some embodiments, the UAV may autonomously start or activatethe rotors and rotor blades in response to detected positional change ofthe UAV and/or detected release of the UAV from the mechanical hand 906,similar to that discussed in connection with FIG. 8. For example, inresponse to the detection that the UAV has reached or is about to reachthe peak of the trajectory 903 (e.g., detected vertical velocity is oris near zero), and/or the detection that the UAV has been released fromthe mechanical hand 906 (e.g., via a sensor on the holding member 910),an onboard controller of the UAV may cause one or more rotors toactivate the corresponding rotor blades 901, thereby generating thedesired lift and/or thrust 907 that causes the UAV to becomeautonomously airborne.

Additional methods for launching the UAVs are provided. FIGS. 10A-Cillustrate another method for launching a UAV 1002, in accordance withan embodiment of the present invention. As illustrated by FIG. 10A, anUAV 1002 is initially held by a hand 1003 of a human 1001. In someembodiments, the UAV may be supported by a human body or a human hand.The UAV may be supported by one or more support members such landingstands or legs. Alternatively, the UAV may be placed directly on thehuman body or hand without any support members. In some otherembodiments, the UAV may be held by the hand via one or more holdingmembers 1005 such as discussed herein. In some embodiments, rather thanbeing held or supported by a human hand, the UAV may be supported by anyother object such as a removable hard surface. In a typical embodiment,when the UAV is thus held or supported, the rotors of the UAV are notactuated and the rotor blades are not moving.

To launch the UAV, as illustrated by FIG. 10B, the person may withdrawthe support of the hand from the UAV or simply drop the UAV from anelevation position. In the cases where the person initially holds theUAV on the palm of a hand, the hand may be withdrawn from underneath theUAV. In the cases where the person initially holds the UAV via a holdingmember 1005, the holding members may be released, thus releasing theUAV. Regardless of how the UAV is released, acceleration of the UAVtypically changes from zero or close to zero to around g (gravity ofearth), thus experiencing freefall. Such a change of acceleration may bedetected by the UAV, for example, by an inertial sensor. In someembodiments, instead of or in addition to sensing freefall, the UAV mayalso detect the release of the UAV, for example, by a contact sensor(e.g., touch sensor, pressure sensor, or temperature sensor). Inresponse to the detected positional change and/or release of the UAV,the UAV may spontaneously and autonomously actuate the rotors (andcorresponding rotor blades) to generate the desired lift and/or thrust1035.

As illustrated in FIG. 10C, the desired lift and/or thrust 1035 maycause the UAV to hover over or gain elevation relative to the locationwhere the UAV was originally held in FIG. 10A. In other embodiments, thepost-release altitude of the UAV may be less than the original altitude.Regardless of the post-release position of the UAV, the UAV becomesairborne in an autonomous fashion (i.e., without external support).

In some embodiments, visual sensors may be used to detect externalsignals for launching the UAV. Accordingly, in a separate embodiment, amethod for launching a UAV (including an unmanned rotorcraft) having avisual sensor and one or more rotor blades is provided, which methodcomprises the following steps: (a) detecting, by the rotorcraft, avisual signal generated by an operator of said rotorcraft; and (b) inresponse to the detected visual signal, activating the one or more rotorblades to generate a lift and/or thrust. As a variant to visual sensor,the method may involve an audio sensor configured to detect a soundsignal which can be a command for launching the UAV.

A wide variety of visual sensors are useful for detecting the externalsignals for launching the UAV. For example, any visual sensor capable ofdetecting optical wavelengths within the visible spectrum of a nakedeye, infra-red, or ultraviolet wavelength ranges, whether beingpolarized, high intensity light and/or other types of light wavelengths,are suited for practicing the subject methods. Where desired, the sensorcan be a camera or video camera, placed on-board or off-board of theUAV. In some embodiments, some of the onboard sensors may transmitsensor data to an onboard controller, which in turn provides the sensordata to the remote controller. In some other embodiments, some of theonboard sensors may transmit the sensor data directly to the remotecontrol device, e.g., as shown 1720 of FIG. 17. Various aspects of thesensing and controlling functionalities may be implemented by onboardsystems, off-board systems, or a combination thereof.

The external signal being detected can be a visual signal, a voicecommand, a gesture or movement of an object such as a body part. FIGS.13-15 illustrate exemplary methods for launching the UAV, in accordancewith this embodiment of the present invention. As illustrated in FIG.13, a gesture 1310 may be detected by an onboard sensor 1305 and used totrigger the launching of the UAV such as discussed herein. The gesturemay be made by any body part such as by a hand, arm, head, facialfeatures, eye, and the like. For example, the gesture may include thewave of a hand or arm, the turn of the head, the movement of the eye,and the like. As illustrated by FIG. 14, a recognizable visual sign,symbol or pattern 1410 may be detected by the onboard sensor 1405 andused to trigger the launching of the UAV. Such predetermined visualsign, symbol or pattern may be of predetermined color, shape, dimension,size and the like. As illustrated in FIG. 15, light source 1510 may bedetected by an onboard sensor 1505 and used to trigger the launching ofthe UAV such as discussed herein. The light source 1510 may include anylight sources so as to provide RGB, UV, NUV, IR, polarized, highintensity light and/or other types of light. The light may be of variouswavelengths and modulated in power over time.

The gesture or movement for launching the UAV may include throwing theUAV into the air, releasing or dropping the UAV from an elevatedposition, or providing predetermined external signals to the UAV, andthe like. Such launching methods may be implemented by a human,mechanical device, or a combination thereof. In such examples, variouson-board and/or off-board sensors may be used to detect positionalchanges of the UAV, or external signals (including but not limited tovisual signals), or release of a grip of the UAV. Based on the detectedchanges or signals, an activating signal may be generated, for example,by the onboard controller or a remote computer, to actuate one or morerotors of the UAV, thereby causing one or more rotor blades to rotateand generate a suitable lift for the UAV.

The generated lift may be sufficient to allow the UAV to maintain anairborne state. In some embodiments, the generated lift allows the UAVto hover over a designated location. In some other embodiments, thegenerated lift allows the UAV to gain elevation. In yet some otherembodiments, the generated lift may also allow the UAV to change itslateral position and/or orientation.

In a separate aspect, the present invention also provides simplifiedmethods of decelerating a UAV, which can be readily adopted by a UAVuser with little or no training on UAV operation. In some embodiments,the deceleration method can effect landing of a UAV at a designatedlocation with little practice by the UAV user.

Accordingly, in one embodiment, the method of landing a UAV involves thesteps of (a) detecting by a sensor on the UAV, an external contactexerted upon said UAV while said UAV is airborne; and (b) generating bysaid UAV a decelerating signal in response to the detected externalcontact, thereby decelerating said UAV.

The contact may be exerted while the UAV is airborne. The externalcontact may be detected by one or more onboard and/or off-board sensorssuch as touch sensor, pressure sensor, temperature sensor, photosensor,magnet, visual sensor, or a combination thereof. In response to thedetected external contact, one or more decelerating or deactivationsignals for causing the rotors to slow down or come to be complete stop.Such signals may be generated by an onboard controller or a remotedevice. In some embodiments, such signals may cause the UAV to land at adesignated location.

In some embodiments, such external contact may be imposed by a humanhand. The person may touch, grasp or otherwise hold a portion of the UAV(e.g., a holding member) while the UAV is airborne. For example, as theUAV hovers near or passes by a person, the person may reach out and gethold of the UAV by hand or by any other suitable device such as a hook,clasp, mechanical arm/hand, or the like. The UAV may detect such contactby an onboard sensor such as those described herein and autonomouslyslows down or stops the rotors (and hence rotor blades) of the UAVcausing the UAV to decelerate or come to a stop.

FIG. 9B illustrates an example mechanical device for landing an UAV, inaccordance with an embodiment of the present invention. The mechanicaldevice may be similar to that described in connection with FIG. 9A. Forexample, the mechanical device may include a mechanical arm 900, amechanical hand 906 and an actuator 911. The actuator 911 may beconfigured to control the mechanical arm and/or mechanical hand tocapture a UAV 902 that is within a predetermined range. For example, themechanical hand may be controlled grasping or otherwise engaging withone or more holding members 910 of the UAV so as to capture the UAV. Anonboard sensor 905 may be configured to detect the contact of themechanical hand and as a result, autonomously slows down or stops therotation of one or more rotor blades 901. In alternative embodiments,the UAV may be configured to detect contact with other external objectssuch as a landing surface (e.g., ground or table top) and slows down orstops the UAV in response.

Similarly, the UAV may be configured to detect the contact by a humanhand. For example, an onboard temperature sensor may be configured todetect human body temperature on a holding member as a result of aholding of a human hand, thereby triggering the landing of the UAV. Insome embodiments, other biometric sensors such as fingerprint sensorsmay be used to detect human contact.

In some embodiments, the decelerating or deactivation signals aregenerated only after the contact is sustained for a predetermined periodof time. This may be useful for preventing the UAV from being shut downdue to temporary and unintentional external contact. Similarly, in someembodiments, external contact may be used in combination with othersensor input such as positional changes and/or visual signals todetermine whether to land the UAV.

In some embodiments, within less than about 1 second from detecting theexternal signal, the decelerating signal is generated. In otherembodiments, decelerating signal is generated within a range from aslittle as about 0.8 seconds, 0.5 seconds, 0.3 seconds, 0.1 seconds, 0.05seconds, to about 0.001 second or less from the point when the externalsignal is detected. In some instances, decelerating the UAV is performedwithin less than about 1 second from the point when the external signalis detected. In other embodiments, decelerating the UAV is performedwithin a range from as little as about 0.8 seconds, 0.5 seconds, 0.3seconds, 0.1 seconds, 0.05 seconds, to about 0.001 second or less fromthe detecting step.

In some embodiments, positional changes may be used to trigger automaticlanding of the UAV in addition to or instead of external contact withthe UAV. Accordingly, the present invention provides a landing method isprovided that involves the step of (a) detecting a positional change ofthe UAV while said UAV is airborne by the UAV; and (b) in response tothe detected positional change and/or the visual signal, generating adeceleration signal to said UAV to bring said UAV to a stop.

Such positional changes may be similar to those discussed in connectionwith the launching of the UAV. For example, the positional change mayinclude translational changes (e.g., in altitude, latitude and/orlongitude) or rotational changes. The positional changes may includechanges in the velocity, acceleration, and/or orientation of the UAV.The positional change may also include a change in location with respectto a frame of reference or a reference object. In various embodiments,the positional change may be detected by an inertial sensor, GPSreceiver, compass, magnetometer, altimeter, infrared sensor, visual orimage sensor (such as a camera or video camera), photo sensor, motiondetector, and the like. In various embodiments, the positional changemay be caused by a human or a mechanical device.

FIGS. 11A-B and 12 illustrates exemplary methods for landing an UAV, inaccordance with some embodiments. As illustrated in FIG. 11A, anairborne UAV 1102 with rotating rotor blades is caught by a hand of ahuman 1101 via a holding member 1104 of the UAV. In some embodiments,the mere act of holding the holding member may cause the UAV todecelerate or stop. In some other embodiments, an additional positionalchange of the UAV is required besides holding of the UAV. Such anadditional positional change may include a change in the orientation ofthe UAV such as by tilting or turning the UAV by a certain angle 1152along a particular rotational axis. Such rotational changes may bedetected, for example, by an inertial sensor or a visual sensor 1105 ofthe UAV.

In some embodiments, the positional change may include a suddenacceleration or deceleration caused by external forces (e.g., human).For example, while holding the UAV, the person may suddenly fling theUAV toward a certain direction causing a sudden acceleration of the UAV.Such acceleration or deceleration may be detected by an onboard sensorsuch an as an inertial sensor and used to trigger the deceleration ofthe UAV.

FIG. 12 illustrates another example of positional change of the UAV, inaccordance with an embodiment of the present invention. As illustrated,the UAV 1202 is not only held by a human 1201 via a holding member 1204but also moved in a predetermined pattern 1206 such as in asubstantially circular pattern, from side to side, in a figure “8”pattern, or in any other suitable pattern. The movement pattern may bedetected by one or more sensors described herein such as inertialsensors, visual sensors, motion sensors and the like. In someembodiments, the combination of the detected external contact and thedetected positional change triggers the slowing down or stopping of therotor blades of the UAV.

In some embodiments, external signals may be used to trigger the landingof the UAV in addition to or instead of the external contact and/orpositional changes. Such external signals may include visual signals,audio signals, gesture signals or a combination thereof. In oneembodiment, a subject landing method involves the steps of: (a)detecting a visual signal generated by an operator of said UAV; and (b)in response to the detected positional change and/or the visual signal,generating a deceleration signal to said UAV to bring said UAV to astop.

For example, the methods discussed in connection with FIGS. 13-15 may besimilarly used to land the UAV. As illustrated in FIG. 13, a gesture1310 may be detected by an onboard sensor 1305 and used to trigger thelanding of the UAV such as discussed herein. The gesture may be made byany body part such as by a hand, arm, head, facial features, eye, andthe like. As illustrated by FIG. 14, a recognizable visual sign, symbolor pattern 1410 may be detected by the onboard sensor 1405 and used totrigger the landing of the UAV. Such predetermined visual sign, symbolor pattern may be of predetermined color, shape, dimension, size and thelike. As illustrated in FIG. 15, light source 1510 may be detected by anonboard sensor 1505 and used to trigger the landing of the UAV such asdiscussed herein.

In various embodiments, the landing of the UAV may be triggered by theexternal contact, positional change, external signal, any other sensingmechanisms or any combination thereof. For example, as illustrated inFIGS. 13-15, the external signals are used in conjunction with detectedexternal contact with the UAV (e.g., the holding of the holding member1304, 1404 or 1504 of FIG. 13, 14 or 15, respectively) to cause thelanding of the UAV. As illustrated in FIGS. 11-12, positional changesare used in conjunction with external contact to trigger the landing ofthe UAV. In some other embodiments, positional changes may be used incombination with external signals to trigger the landing of the UAV. Insome other embodiments, external contact, positional changes andexternal signals may be used together to trigger the landing of the UAV.

In various embodiments, the sensors and the controllers may be locatedonboard and/or off-board the UAV. For example, in an embodiment, boththe sensors and the controllers are located onboard the UAV. In anotherembodiment, both the sensors and the controllers can be locatedoff-board the UAV. In some embodiments, some sensors are located onboardthe UAV while the other sensors are located off-board the UAV. Inanother embodiment, some controllers are located onboard the UAV whilethe other controllers are located off-board the UAV.

The subject launching and decelerating methods can be implemented by awide range of UAVs. The subject UAVs exhibit one or more unique featuresas described herein.

In one embodiment, the present invention provides an unmanned aerialvehicle (UAV), comprising: (a) one or more rotor blades; (b) a sensorconfigured to detect (1) a positional change of the UAV, (2) a visualsignal generated by an operator of said UAV, or (3) release of a grip bya hand onto said UAV; (c) a controller configured to provide anactuating signal for activating the UAV in response to the detectedpositional change or a visual signal; and (d) an actuator configured tocause the one or more rotor blades to move and generate a lift and/orthrust in response to the actuating signal or the visual signal.

In another embodiment, the present invention provides an unmanned aerialvehicle (UAV), comprising: a sensor configured to detect a positionalchange experienced by the UAV and/or a visual signal generated by anoperator of said UAV; a controller configured to provide a deactivatingsignal for decelerating the UAV in response to the detected positionalchange and/or the visual signal; and an actuator configured to causesaid UAV to decelerate in response to the deactivating signal.

The present invention further provides a system for implementing amethod of launching or decelerating a UAV disclosed here. FIG. 16illustrates an exemplary setup. A remote control device 1620, operatedby an operator 1601, is in wireless communication with both onboardsensors 1605 of the UAV 1602 and an off-board sensing system 1630. Theoff-board sensing system 1630 may include one or more sensors mounted onexternal structures (fixed or movable) such as a pole, a building, avehicle, a human or animal, and the like.

In some embodiments, sensor data from the off-board sensing systemand/or the onboard sensors may be provided to a remote or off-boardcontroller which may be implemented by the remote control device 1620,remote computer (such as in a base station) or processor, or the like.The remote controller may determine whether to trigger automaticlaunching or landing of the UAV and may provide the correspondingcommands or signals to the UAV as a result. In some other embodiments,sensor data from the off-board sensing system and/or the onboard sensorsmay be provided to an onboard controller instead of or in addition tothe remote controller. In various embodiments, aspects of the controllerfunctionalities discussed herein may be implemented by onboardcontrollers, off-board controllers or a combination thereof. In someembodiments, autonomous landing is implemented by off-board controllerswhereas autonomous launching is implemented by on-board controllers. Insome other embodiments, autonomous launching is implemented by off-boardcontrollers whereas autonomous landing is implemented by on-boardcontrollers. In some other embodiments, both autonomous launching andlanding are implemented by the onboard controllers. In some otherembodiments, both autonomous launching and landing are implemented bythe off-board controllers.

FIG. 17 illustrates another exemplary setup for implementing the presentinvention, in accordance with an embodiment. As illustrated, remotecontrol device 1720, operated by an operator 1701, is in wirelesscommunication with various onboard sensors 1705 and 1730 of the UAV1702. For example, the sensor 1705 may be a positional sensor such as aninertial sensor, GPS receiver, magnetometer, or the like. The sensor1730 may be a visual sensor such as a camera or video camera. In someembodiments, some of the onboard sensors may transmit sensor data to anonboard controller, which in turn provides the sensor data to the remotecontroller. In some other embodiments, some of the onboard sensors maytransmit the sensor data directly to the remote control device 1720. Asdiscussed above, various aspects of the sensing and controllingfunctionalities may be implemented by onboard systems, off-boardsystems, or a combination thereof.

FIG. 18 illustrates exemplary components of a system 1800 used toimplement the present invention, in accordance with an embodiment. Asillustrated, the system 1800 includes a controller 1810 operativelycoupled to one or more sensors or sensing systems 1801 a-c via a wiredor wireless connection. For example, the sensors may be connected to thecontroller via a controller area network (CAN). The controller 1810 canalso be operatively coupled to one or more actuators 1820 forcontrolling the state of the UAV.

The sensors may include any sensors discussed herein, such as inertialsensor, GPS receiver, compass, magnetometer, altimeter, proximity sensor(e.g., infrared sensor or LIDAR sensor), visual or image sensor (such asa camera or video camera), photo sensor, motion detector, touch sensor,pressure sensor, temperature sensor, photosensor, magnetic sensor, andthe like.

In some embodiments, some sensors (such as visual sensors) may beoptionally coupled to a field programmable gate array (FPGA, not shown).The FPGA can be operatively coupled to the controller (e.g., via ageneral purpose memory controller (GPMC) connection). In someembodiments, some sensors (such as visual sensors) and/or the FPGA canbe optionally coupled to a transmission module. The transmission modulecan be used to transmit data captured by the sensors (e.g., image data)to any suitable external device or system, such as a terminal or remotedevice as described herein.

The controller can include one or more programmable processors (e.g., acentral processing unit (CPU)). The controller can be operativelycoupled to a non-transitory computer readable medium 1830. Thenon-transitory computer readable medium can include one or more memoryunits (e.g., removable media or external storage such as an SD card,random access memory (RAM)). In some embodiments, data from the sensors(e.g., camera) can be directly conveyed to and stored within the memoryunits of the non-transitory computer readable medium (e.g., through adirect memory access (DMA) connection). The memory units of thenon-transitory computer readable medium can include code and/or programinstructions executable by the controller to perform any suitableembodiment of the methods described herein. For example, the controllercan be configured to execute instructions causing one or more processorsof the controller to analyze data produced by one or more sensors orsensing systems to determine positional and/or motion information of theUAV, the detected external contact information, and/or the detectedexternal signal information, as described herein. As another example,the controller can be configured to execute instructions causing one ormore processors of the controller to determine whether the autonomouslylaunch or land the UAV.

The memory units of the non-transitory computer readable medium 1830store sensor data from the one or more sensing systems to be processedby the controller. In some embodiments, the memory units of thenon-transitory computer readable medium can store the positional and/ormotion information of the UAV, the detected external contactinformation, and/or the detected external signal information.Alternatively or in combination, the memory units of the non-transitorycomputer readable medium can store predetermined or pre-stored data forcontrolling the UAV (e.g., predetermined threshold values for sensordata, parameters for controlling the actuators, predetermined flightpath, velocity, acceleration or orientation of the UAV).

As discussed above, the controller 1810 can be used to adjust the stateof the UAV via one or more actuators 1820. For example, the controllermay be used to control the rotors of the UAV (e.g., rotational speed ofthe rotors) so as to adjust the spatial disposition of the UAV or acomponent thereof (e.g., a payload, a carrier of the payload) withrespect to up to six degrees of freedom (three translational movement(along the X, Y and Z axes) and three rotational movement (along theroll, pitch and yaw axes)). Alternatively or in combination, thecontroller can be configured to adjust the velocity or acceleration ofthe UAV with respect to six degrees of freedom. In some embodiments, thecontroller can control the UAV based on predetermined control data orpositional, external contact or external signal information for the UAVobtained by processing data from one or more sensing systems, asdescribed herein. For example, the controller may provide accelerationor deceleration signals to the actuators based on the determination ofwhether launching or landing is required.

In various embodiments, the actuators can include an electric motor,mechanical actuator, hydraulic actuator, pneumatic actuator, and thelike. Electric motors can include magnetic, electrostatic, orpiezoelectric motors. For example, in an embodiment, the actuatorincludes a brushed or brushless DC electric motor.

The controller can be operatively coupled to a communication module 1840configured to transmit and/or receive data from one or more externaldevices (e.g., a terminal, display device, or other remote controller).Any suitable means of communication can be used, such as wiredcommunication or wireless communication. For example, the communicationmodule can utilize one or more of local area networks (LAN), wide areanetworks (WAN), infrared, radio, WiFi, peer-to-peer (P2P) networks,telecommunication networks, cloud communication, and the like.Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication modulecan transmit and/or receive one or more of sensor data from the sensingsystems, positional and/or motion information, external contactinformation and/or external signal information determined by processingthe sensor data, predetermined control data, user commands from aterminal or remote controller, and the like.

The components of the system can be arranged in any suitableconfiguration. For example, one or more of the components of the systemcan be located on the UAV, carrier, payload, terminal, sensing system,or any other remote device or system in communication with one or moreof the above. Additionally, although FIG. 18 depicts a single controllerand a single non-transitory computer readable medium, one of skill inthe art would appreciate that this is not intended to be limiting, andthat the system can include a plurality of controllers and/ornon-transitory computer readable media. In some embodiments, one or moreof the plurality of controllers and/or non-transitory computer readablemedia can be situated at different locations, such as on the UAV,carrier, payload, terminal, sensing system, or any other remote deviceor system in communication with one or more of the above, or suitablecombinations thereof, such that any suitable aspect of the processingand/or memory functions performed by the system can occur at one or moreof the aforementioned locations.

The subject UAVs, alone or for operation in the context of a system asdisclosed herein, include without limitation single-rotor aircraft,multi-rotor aircraft, and rotary-wing aircraft. Rotary-wing aircrafttypically utilizes lift generated by rotor blades, which revolve arounda mast or shaft. Examples of such rotorcrafts may include helicopters,cyclocopters, autogyros, gyrodynes, and the like. Such rotorcrafts mayhave more than one rotor fixed about the craft in more than onelocation. For example, the subject UAVs may include quadcopters,hexacopters, octocopters, and the like.

In various embodiments, the UAVs may move freely with respect to up tosix degrees of freedom (e.g., three degrees of freedom in translationand three degrees of freedom in rotation). Alternatively, the movementof the UAV may be constrained with respect to one or more degrees offreedom, such as by a predetermined path or track. The movement can beactuated by any suitable actuation mechanism, such as an engine or amotor. In some embodiments, the UAV may be driven by a propulsionsystem. Examples of propulsion systems may include engines, motors,wheels, axles, magnets, rotors, propellers, blades, nozzles, or anysuitable combination thereof. The movement of the UAV may be powered byany suitable energy source, such as electrical energy, magnetic energy,solar energy, wind energy, gravitational energy, chemical energy,nuclear energy, or any suitable combination thereof.

In various embodiments, the subject UAVs may adopt different sizes,dimensions and/or configurations. For example, in an embodiment, thesubject UAVs may be multi-rotor UAVs where the distance between theshafts of opposing rotors does not exceed a certain threshold value.Such threshold value may be around 5 meters, 4 meters, 3, meters, 2meters, 1 meter, or the like. For instances, the values of the distancebetween shafts of opposing rotors may be 350 millimeters, 450millimeters, 800 millimeters, 900 millimeters and the like.

In some embodiments, the UAV may be of a size and/or dimensionssufficient to accommodate a human occupant within or on the UAV.Alternatively, the UAV may be of size and/or dimensions smaller thanthat capable of having a human occupant within or on the UAV. In someinstances, the UAV may have a maximum dimension (e.g., length, width,height, diameter, diagonal) of no more than 5 m, 4 m, 3 m, 2 m, 1 m, 0.5m, or 0.1 m. For example, the distance between shafts of opposing rotorsmay be no more than 5 m, 4 m, 3 m, 2 m, 1 m, 0.5 m, or 0.1 m. In someembodiments, the UAV may have a volume of less than 100 cm×100 cm×100cm. In some embodiments, the UAV may have a volume of less than 50 cm×50cm×30 cm. In some embodiments, the UAV may have a volume of less than 5cm×5 cm×3 cm. In some embodiments, the UAV may have a footprint (whichmay refer to the lateral cross-sectional area encompassed by the UAV)less than about 32,000 cm², less than about 20,000 cm², less than about10,000 cm², less than about 1,000 cm², less than about 500 cm², lessthan about 100 cm² or even less. In some instances, the UAV may weigh nomore than 1000 kg, no more than 500 kg, no more than 100 kg, no morethan 10 kg, no more than 5 kg, no more than 1 kg, or no more than 0.5kg.

In various embodiments, the UAV may be configured to carry a load. Theload can include one or more of cargo, equipment, instruments, and thelike. The load can be provided within a housing. Alternatively, portionsof the load or the entire load can be provided without a housing. Theload can be rigidly fixed relative to the UAV. Alternatively, the loadcan be movable relative to the UAV (e.g., translatable or rotatablerelative to the UAV).

In some embodiments, the load includes a payload 708 and a carrier 709for the payload. The carrier can be integrally formed with the UAV.Alternatively, the carrier can be releasably coupled to the UAV. Thecarrier can be coupled to the UAV directly or indirectly. The carriercan provide support to the payload (e.g., carry at least part of theweight of the payload). The carrier can include a suitable mountingstructure (e.g., a gimbal platform) capable of stabilizing and/ordirecting the movement of the payload. In some embodiments, the carriercan be adapted to control the state of the payload (e.g., positionand/or orientation) relative to the UAV. For example, the carrier can beconfigured to move relative to the UAV (e.g., with respect to one, two,or three degrees of translation and/or one, two, or three degrees ofrotation) such that the payload maintains its position and/ororientation relative to a suitable reference frame regardless of themovement of the UAV. The reference frame can be a fixed reference frame(e.g., the surrounding environment). Alternatively, the reference framecan be a moving reference frame (e.g., the UAV, a payload target).

In some embodiments, the carrier can be configured to permit movement ofthe payload relative to the carrier and/or UAV. The movement can be atranslation with respect to up to three degrees of freedom (e.g., alongone, two, or three axes) or a rotation with respect to up to threedegrees of freedom (e.g., about one, two, or three axes), or anysuitable combination thereof. For example, the carrier can include aframe assembly and an actuation assembly. The frame assembly can providestructural support to the payload. The frame assembly can includeindividual frame components, some of which can be movable relative toone another.

The frame assembly and/or its individual components can be coupled to anactuation assembly that faciliates the movement of the frame assembly.The actuation assembly can include one or more actuators (e.g., motors)that actuate movement of the individual frame components. The actuatorscan permit the movement of multiple frame components simultaneously, ormay be configured to permit the movement of a single frame component oneat a time. The movement of the frame components can produce acorresponding movement of the payload. For example, the actuationassembly can actuate a rotation of one or more frame components aboutone or more axes of rotation (e.g., roll axis, pitch axis, or yaw axis).The rotation of the one or more frame components can cause a payload torotate about one or more axes of rotation relative to the UAV.Alternatively or in combination, the actuation assembly can actuate atranslation of one or more frame components along one or more axes oftranslation, and thereby produce a translation of the payload along oneor more corresponding axes relative to the UAV.

The payload can be coupled to the UAV via the carrier, either directly(e.g., directly contacting the UAV) or indirectly (e.g., not contactingthe UAV). Optionally, the payload can be mounted on the UAV withoutrequiring a carrier. The payload can be integrally formed with thecarrier. Alternatively, the payload can be releasably coupled to thecarrier. In some embodiments, the payload can include one or morepayload elements, and one or more of the payload elements can be movablerelative to the UAV and/or the carrier, as described above. The payloadcan include one or more sensors for surveying one or more targets. Anysuitable sensor can be incorporated into the payload, such as an imagecapture device (e.g., a camera), an audio capture device (e.g., aparabolic microphone), an infrared imaging device, or an ultravioletimaging device. The sensor can provide static sensor data (e.g., aphotograph) or dynamic sensor data (e.g., a video). In some embodiments,the sensor provides sensor data for the target of the payload.Alternatively or in combination, the payload can include one or moreemitters for providing signals to one or more targets. Any suitableemitter can be used, such as an illumination source or a sound source.In some embodiments, the payload includes one or more transceivers, suchas for communication with a module remote from the UAV.

FIG. 1 illustrates an example UAV 100 that may be used to implement thepresent invention, in accordance with an embodiment of the presentinvention. The unmanned aerial vehicle 100 can include a propulsionsystem having one or more rotors 102. Any number of rotors may beprovided (e.g., one, two, three, four, five, six, or more). The rotorsmay be configured to be rotatably coupled to respective rotor blades101. When in use, the rotors can cause the rotor blades to rotate aroundthe rotation mast or shaft at the same or different speed therebycausing the UAV to hover/maintain position, change orientation, and/orchange location. The distance between shafts of opposite rotors can beany suitable length. For example, the length can be less than or equalto 2 m, or less than equal to 5 m. In some embodiments, the length canbe within a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm to5 m.

In some embodiments, the UAV may include a body 104 that may be used tohouse or carry various components of the UAV such as electricalcomponents. Such components may be carried inside the body or on theouter surface of the body. Examples of components carried by the bodymay include flight control units, processors, circuit boards, actuatorssuch as motors, communication units, sensors and the like.

In some embodiment, the body of the UAV may have attached thereto one ormore extension members 103. The extension members may include a supportmember that is adapted to support, in whole or in part, weight of theUAV when the UAV is not airborne. For example, the support member mayinclude a landing stand such as illustrated in FIG. 1. The landing standmay form a rectangular shape or a similarly shaped structure configuredto withstand external forces exerted, for example, during landing.

In some embodiments, the extension members 103 may be configured to betouched, grasped or otherwise contacted by an external object such as ahuman hand, a robotic arm, and the like. In some embodiments, suchcontact may be detected by the UAV (e.g., via a touch sensor located onthe extension member). In response to the detected external contact, theUAV may autonomously cause the deceleration of the UAV. For example,detected external contact may be received by a controller of the UAVthat generates a decelerating signal to one or more actuators (motors)associated with the rotors thereby causing the rotors (and henceassociated rotor blades) to slow down, stall and/or come to a completestop.

In various embodiments, the UAV may carry onboard one or more sensors105 and 106. Examples of the sensors may include but not limit to aninertial sensor, GPS receiver, compass, magnetometer, altimeter,infrared sensor, visual or image sensor (such as a camera or videocamera), photo sensor, audio sensor (e.g., microphone), motion detector,touch sensor, pressure sensor, temperature sensor, magnet, and the like.

In various embodiments, the onboard sensors may be located at anysuitable locations on the UAV. For example, some sensors 105 may belocated on the outer surface of the body of the UAV or inside the body.As another example, some sensors 106 may be located on an extensionmember coupled to the body of the UAV.

The onboard sensors may be used for a variety of purposes. For example,the sensors may be used for surveillance, surveys, photography, searchand rescue, remote sensing, sample collection, scientific research, andthe like. In some embodiments, some of the sensors may be used tofacilitate the launching and/or landing of the UAV using techniquesdescribed herein. For example, the sensors (e.g., inertial sensor, GPSreceiver and/or visual sensor) may be used to detect a positional changeof the UAV (including translational or rotational changes such as changein location, velocity, acceleration, and/or orientation). As anotherexample, the sensors (e.g., visual sensor, audio sensor, or motiondetector) may be used to detect an external signal such as a visualsignal, a voice command, a gesture or movement of an object such as abody part. Such detected positional change and/or external signal may beused to by the UAV as a signal to autonomously start launching the UAV,for example, by causing the start and/or the acceleration of the rotors(and hence the rotation of the rotor blades) to generate the liftnecessary to cause the UAV to gain or maintain elevation. In someembodiments, the launching of the UAV as described above may be based oninput from one, two, three or more of the sensors discussed herein.

As another example, the sensors (e.g., touch sensor, pressure sensor,photo sensor, motion sensor) may be used to detect an external contactwith the UAV while the UAV is airborne. Based on the detected externalcontact, the UAV may autonomously cause the deceleration of the rotors(and the associated rotor blades). For example, a controller of the UAVmay receive the detected external contact and generate one or moredeceleration or stall signals to one or more actuators (e.g., motors)causing the rotor blades to slow down or stop rotating. Instead of or inaddition to external contact, positional change and/or external signals(audio/visual/movement) such as discussed above may be detected by theUAV and used as signals to engage in the autonomous landing as discussedherein.

In some embodiments, some or all of the sensors discussed herein may belocated off board. Such sensors may be located in an environment wherethe UAV operates. For example, the sensors may be mounted on or carriedby interior walls of a room (e.g., when the UAV operates indoor),buildings, trees or other fixed structures (e.g., when the UAV operatesoutdoors), and/or movable objects. The movable object may include avehicle, such as an aerial vehicle, a water vehicle, a ground vehicle, aspace vehicle, or any combination thereof. In some embodiments, themovable object can be a living subject, such as a human or an animal.

As discussed above, a UAV may be capable of engaging in automaticlanding operations based on detected external contact with the UAV. Tofacilitate such external contact, in some embodiments, the UAV may beprovided with a holding member or structure configured to be touched,grasped, or otherwise contacted by or engage with an external object. Insome embodiments, such a holding member may include a structure thatalso provides other functionalities. For example, the landing leg 103such as illustrated in FIG. 1 can be configured to be graspable by ahuman or robotic hand. In other words, the landing leg is a holdingmember. At the same time, the landing leg 103 can also be used tosupport, in whole or in part, the weight of the UAV on a surface whenthe UAV. Thus, the holding member can also be used for other purposes(e.g., landing support). In other embodiments, the holding member mayinclude a structure that is provided for the sole purpose of beingcontacted by an external object.

In various embodiments, the holding members may include a handle, clasp,rod, rope, leg, stand, structural extension, cavity, hole, bump, magnet,hook, loop, or the like, or any combination thereof. FIGS. 2-6illustrate some example UAVs with such holding members, in accordancewith some embodiments. In some embodiments, the size, shape anddimension of the holding members may be adapted to be held, grasped,gripped or touched by a human hand, a mechanical arm or hand, or anyother suitable grasping or gripping device or structure. In someembodiments, a holding member may be located relative to the UAV suchthat the holding member is held or touched by a hand or device, there issufficient distance between the hand or device and the one or more rotorblades of the UAV or any other part of the UAV that may cause injury ordamage to hand or device. In some embodiments, the holding members mayinclude one or more sensors for detecting external contact. Such sensorsmay include, for example, a touch sensor, temperature sensor, pressuresensor, photo sensor, visual sensor, or any combination thereof. In someembodiments, some or all of such sensors may be embedded in the holdingmembers, located on other portions of the UAV, and/or off of the UAV.The sensors may be configured to communicate with a controller of theUAV using wired or wireless communication methods.

FIG. 2 illustrates another example UAV 200, in accordance with anembodiment of the present invention. The UAV 200 may be similar to theUAV 100 described in connection with FIG. 1. For example, the UAV 200may include rotors 200, rotor blades 201, body 204, sensors 205 andlanding stands 203 that are similar to the corresponding components inthe UAV 100 of FIG. 1. However, unlike the UAV 100, the UAV 200 alsoincludes one or more holding rods or handles 206 that may be held orcontacted (e.g., by a human hand or a mechanical device) to facilitatethe automatic landing discussed herein. The holding rods may extendoutward or radiate from the side of the body of the UAV. The holdingmembers of the UAV may include the holding rods 206 and optionally thelanding stands 203.

FIG. 3 illustrates another example UAV 300, in accordance with anembodiment of the present invention. The UAV 300 may be similar to theUAVs 100 and 200 described in connection with FIGS. 1-2. However,instead of landing stands 203 or holding rods 206, the UAV 300 includesone or more substantially vertical holding legs 303 that may be held orcontacted (e.g., by a human hand or a mechanical device) to facilitatethe automatic landing discussed herein. In some embodiments, the holdinglegs 303 may optionally function as landing legs for supporting theweight of the UAV, in whole or in part, on a surface when the UAV is notairborne.

FIG. 4 illustrates another example UAV 400, in accordance with anembodiment of the present invention. The UAV 400 may be similar to theUAV 300 described above in connection with FIG. 3. For example, UAV 400includes four substantially vertical holding rods 406. The holding rodsmay be held or contacted (e.g., by a human hand or a mechanical device)to facilitate the automatic landing discussed herein. Each of theholding rods 406 may include a sensor 407 for detecting external contactwith the rod. As discussed above, such a sensor may include a touchsensor, temperature sensor, pressure sensor, photo sensor, visualsensor, or any combination thereof. Furthermore, the locations of theholding rods 406 relative to the UAV may be different than those for theholding legs 304. For example, the holding rods 406 may be locatedfurther apart and/or directly below each of the rotors of the UAVwhereas the holding legs 306 may be located closer apart and/or belowthe body of the UAV. In some embodiments, the holding rods 406 mayoptionally function as landing legs for supporting the weight of theUAV, in whole or in part, on a surface when the UAV is not airborne.

FIG. 5 illustrates another example UAV 500, in accordance with anembodiment of the present invention. The UAV 500 may be similar to theUAV 400 described above in connection with FIG. 4. However, instead offour substantially vertical holding rods, the UAV 500 may include onlytwo holding rods 506 that extend from the body of the UAV in a bipodfashion. Each of the holding rods 506 may include a sensor 507 fordetecting external contact with the rod such as discussed above. In someembodiments, any suitable number of holding rods may be provided. Forexample, the UAV may include one, two, three, four, five or more holdingrods.

FIG. 6 illustrates another example UAV 600, in accordance with anembodiment of the present invention. The UAV 600 may be similar to theUAV 500 described above in connection with FIG. 5. However, instead oftwo bipod-like holding rods, the UAV 600 may include only one holdingrod 606 that extends substantially perpendicularly from the body of theUAV. The holding rod 606 may include a sensor 607 for detecting externalcontact with the rod such as discussed above. In various embodiments, aUAV may have any combination of the holding members discussed herein orvariations thereof. For example, in an embodiment, the UAV may havethree holding members, two extending from the side of the body of theUAV such as illustrated in FIG. 2 and one extending directly below thebody such as illustrated in FIG. 6.

FIG. 7 illustrates another example of a UAV of the present invention.UAV 700 that may be used to implement the present invention, inaccordance with an embodiment of the present invention. The UAV 700 issimilar to the UAV 300 described in connection with FIG. 3. However, asillustrated, the UAV is also configured to carry a load. The load mayinclude a payload 708 and a carrier 709 for the payload. The carrier canbe integrally formed with the UAV. Alternatively, the carrier can bereleasably coupled to the UAV. The carrier can include a suitablemounting structure (e.g., a gimbal platform) capable of stabilizingand/or directing the movement of the payload. In some embodiments, thecarrier can be adapted to control the state of the payload (e.g.,position and/or orientation) relative to the UAV. In some embodiments,the carrier can be configured to permit movement of the payload relativeto the carrier and/or UAV. The movement can be a translation withrespect to up to three degrees of freedom (e.g., along one, two, orthree axes) or a rotation with respect to up to three degrees of freedom(e.g., about one, two, or three axes), or any suitable combinationthereof. For example, the carrier can include a frame assembly and anactuation assembly. The frame assembly can provide structural support tothe payload. The frame assembly can include individual frame components,some of which can be movable relative to one another. The actuationassembly can include one or more actuators (e.g., motors) that actuatemovement of the individual frame components. The actuators can permitthe movement of multiple frame components simultaneously, or may beconfigured to permit the movement of a single frame component at a time.The movement of the frame components can produce a correspondingmovement of the payload. For example, an actuation assembly can actuatea rotation of one or more frame components about one or more axes ofrotation (e.g., roll axis, pitch axis, or yaw axis). The rotation of theone or more frame components can cause a payload to rotate about one ormore axes of rotation relative to the UAV. Alternatively or incombination, the actuation assembly can actuate a translation of one ormore frame components along one or more axes of translation, and therebyproduce a translation of the payload along one or more correspondingaxes relative to the UAV.

In some embodiments, a UAV may be small relative to the load (comprisingpayload device and/or carrier). In some examples, a ratio of a UAVweight to a load weight may be greater than, less than, or equal toabout 1:1. In some instances, a ratio of a UAV weight to a payloadweight may be greater than, less than, or equal to about 1:1. Wheredesired, the a ratio of a UAV weight to a load weight may be 1:2, 1:3,1:4, or even less. Conversely, the ratio of a UAV weight to a loadweight can also be designed to 2:1, 3:1, 4:1, 5:1 or even higher.Optionally, a ratio of a carrier weight to a payload weight may begreater than, less than, or equal to about 1:1. Where desired, the ratioof carrier's weight to payload's weight may 1:2, 1:3, 1:4, or even less.Conversely, the ratio of carrier's weight to payload's weight may 2:1,3:1, 4:1, 5:1, or even higher. In some embodiments, the UAV may have lowenergy consumption. For example, the UAV may use less than 2 w/h. Insome instances, the carrier may have low energy consumption. Forexample, the carrier may use less than 2 w/h.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. A method for launching an unmanned aerial vehicle(UAV), comprising: (a) detecting a positional change of the UAV; and (b)in response to the detected positional change, activating the UAV togenerate a lift and/or thrust.
 2. A method for launching an unmannedrotorcraft comprising a visual sensor and one or more rotor blades, saidmethod comprising: (a) detecting, by the rotorcraft, a visual signalgenerated by an operator of said rotorcraft; and (b) in response to thedetected visual signal, activating the one or more rotor blades togenerate a lift and/or thrust.
 3. A method for launching an unmannedrotorcraft comprising one or more rotor blades, at least one sensorbeing configured to detect release of a grip of said rotorcraft by ahand, the method comprising: (a) detecting by the sensor, the release ofthe grip by said hand; and (b) in response to the detected release ofthe grip, generating an activating signal to actuate the one or morerotor blades of the rotorcraft to generate a lift and/or thrust.
 4. Themethod of claim 1 or 3, wherein the detecting step is performed by asensor on the UAV.
 5. The method of claim 2, wherein the sensor is acamera on- or off-board the UAV.
 6. The method of claim 1, wherein thepositional change includes one member selected from the group consistingof a change in velocity, a change of acceleration, a change inorientation of the UAV, and a change in location with respect to areference object.
 7. The method of claim 1, wherein the positionalchange is detected by a visual sensor, an inertial sensor, a GPSreceiver, a magnetometer, compass, or an altimeter.
 8. The method ofclaim 1, wherein the positional change is caused by detachment from asupport supporting the UAV.
 9. The method of claim 1, 2 or 3, whereinthe generating the lift and/or thrust is effectuated by an on-boardcontroller configured to be in communication with said sensor.
 10. Themethod of claim 1, wherein the UAV is a rotor aircraft.
 11. The methodof claim 2 or 3, wherein activating the UAV is performed when the UAVreaches a vertical velocity of zero.
 12. The method of claim 2, whereinthe visual signal includes a gesture or movement of a human body. 13.The method of claim 3, wherein the release of the grip by said handresults in one or more of: setting in motion in an arched trajectory,tossing into the air, catapulting into the air, and retracting orallowing said rotorcraft to fall towards the earth.
 14. The method ofclaim 1, 2 or 3, wherein the lift and/or thrust is generated in lessthan about 1 second from said detecting of step (a).
 15. An unmannedaerial vehicle (UAV), comprising (a) one or more rotor blades; (b) asensor configured to detect (1) a positional change of the UAV, (2) avisual signal generated by an operator of said UAV, or (3) release of agrip by a hand onto said UAV; (c) a controller configured to provide anactuating signal for activating the UAV in response to the detectedpositional change or a visual signal; and (d) an actuator configured tocause the one or more rotor blades to move and generate a lift and/orthrust in response to the actuating signal or the visual signal.
 16. TheUAV of claim 16, wherein the sensor senses a change in velocity, achange of acceleration, a change in orientation of the UAV, and a changein location with respect to a reference object.
 17. The UAV of claim 16,wherein the sensor is a visual sensor, an inertial sensor, a GPSreceiver, a magnetometer, compass, or an altimeter, a touch sensor,pressure sensor, temperature sensor, photosensor, or a magnet.
 18. TheUAV of claim 17, wherein the visual sensor is a camera located on boardof said UAV or off-board camera configured to be in communication withsaid UAV.
 19. The UAV of claim 15, wherein the controller is configuredto be in communication with the sensor and to provide said actuatingsignal in response to the detected positional change and/or visualsignal.
 20. A method for decelerating an unmanned aerial vehicle (UAV),comprising: detecting by a sensor on the UAV, an external contactexerted upon said UAV while said UAV is airborne; and generating by saidUAV a decelerating signal in response to the detected external contact,thereby decelerating said UAV.
 21. The method of claim 20, wherein saidUAV comprises a holding member attached thereto, and wherein the sensoris configured to detect the external contact exerted by way of capturingsaid holding member by a hand.
 22. The method of claim 20, wherein UAVis a rotorcraft including one or more rotor blades, and saiddecelerating causes the one or more rotor blades to slow down, stall, orcome to a complete stop.
 23. The method of claim 20, wherein saiddecelerating signal effects landing of said UAV at a designatedlocation.
 24. The method of claim 20, wherein the external contact isdetected by a sensor selected from the group consisting of a touchsensor, pressure sensor, temperature sensor, photosensor, and a magnet.25. The method of claim 20, wherein said decelerating includes one ormore of: causing a decrease in altitude of the UAV, causing a change inattitude of the UAV, causing a reduction in velocity of the UAV, andcausing a negative change in acceleration of the UAV.
 26. The method ofclaim 20, wherein generating said decelerating signal is effectuated bya controller located in said UAV.
 27. The method of claim 20, furthercomprising detecting a positional change and generating a deceleratingsignal to the UAV in response to both the detected external contact andthe positional change.
 28. The method of claim 27, wherein thepositional change is selected from the group consisting of a change invelocity, a change of acceleration, a change in orientation of the UAV,and a change in location with respect to a reference object.
 29. Themethod of claim 20, wherein said decelerating signal is generated inless than about [1 second] from detecting said external contact.
 30. Themethod of claim 21, wherein said holding member includes a handle, rod,rope, a landing leg, a structural extension, a hook, or a loop.
 31. Themethod of claim 21, wherein said holding member is located at a distancesufficiently far from one or more rotors of said UAV to avoid causingundesired impact to the hand.
 32. The method of claim 20, furthercomprising determining that the UAV has been captured by a human handfor period of time that exceeds a predetermined threshold value andcausing the UAV to come to a stop based on said determination.
 33. Themethod of claim 20, further comprising the step of detecting a visualsignal from a photosensor and wherein said decelerating signal isgenerated based on both the detected capture and the detected visualsignal.
 34. A method for landing an unmanned aerial vehicle (UAV),comprising: (a) detecting a positional change of the UAV while said UAVis airborne by the UAV or a visual signal generated by an operator ofsaid UAV; and (b) in response to the detected positional change and/orthe visual signal, generating a deceleration signal to said UAV to bringsaid UAV to a stop.
 35. The method of claim [34], wherein the positionalchange is selected from the group consisting of a change in velocity, achange of acceleration, a change in orientation of the UAV, and a changein location of said UAV with respect to a reference object.
 36. Themethod of claim 34, wherein the positional change is caused by capturingthe UAV in whole or in part by a mechanical or a human hand.
 37. Themethod of claim 34, wherein the positional change is detected by avisual sensor, an inertial sensor, a GPS receiver, a magnetometer,compass, or an altimeter.
 38. The method of claim 34, wherein the visualsignal includes a gesture or movement of a human body.
 39. The method ofclaim 34, wherein the visual signal is detected by a visual sensorlocated on- or off-board the UAV.
 40. The method of claim 39, whereinthe visual sensor comprises a camera located on said UAV.
 41. The methodof claim 39, wherein the visual sensor is configured to be incommunication with a controller of said UAV, said controller generatingthe deceleration signal to bring said UAV to a stop.
 42. The method ofclaim 34, wherein the UAV is brought to a stop in less than about [1second] from detecting said positional change or said visual signal. 43.An unmanned aerial vehicle (UAV), comprising a sensor configured todetect a positional change experienced by the UAV and/or a visual signalgenerated by an operator of said UAV; a controller configured to providea deactivating signal for decelerating the UAV in response to thedetected positional change and/or the visual signal; and an actuatorconfigured to cause said UAV to decelerate in response to thedeactivating signal.
 44. The UAV of claim 43, wherein the sensor is avisual sensor, an inertial sensor, a GPS receiver, a magnetometer,compass, or an altimeter.
 45. The UAV of claim 43, wherein the UAV is arotorcraft including one or more rotor blades, and wherein saiddecelerating signal causes the one or more rotor blades to slow down,stall, or come to a complete stop.
 46. The UAV of claim 43, wherein thevisual sensor is configured to be in communication with said controllerto effect providing said deactivating signal for decelerating the UAV inresponse to the detected visual signal.
 47. The UAV of claim 43, whereinthe visual signal is a gesture of a human operator.